System and method for laparoscopic morcellator

ABSTRACT

Embodiments of the invention provide a laparoscopic morcellating device and method for removing tissue from a body cavity. The morcellating device includes a containment mechanism having an aperture, a cutting mechanism designed to fit into an interior space of the containment mechanism and a retractor mechanism that is coupled to the cutting mechanism. The containment mechanism and cutting mechanism combination surrounds the tissue and the aperture of the containment mechanism is closed around the tissue. The morcellating device further includes a motor for actuating the retractor such that the cutting mechanism constricts and morcellates the tissue. The laparoscopic morcellating device further allows for torque balancing of the retractor mechanism, gas flow regulation of the body cavity, and safety feedback mechanisms that can alert the surgeon.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is based on, claims priority to, andincorporates herein by reference in its entirety, U.S. ProvisionalApplication Ser. No. 61/783,000, filed Mar. 14, 2013, and entitled“SYSTEM AND METHOD FOR A LAPAROSCOPIC MORCELLATOR.”

STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH

This invention was made with United States Government support awarded bythe following agencies: National Science Foundation Graduate ResearchFellowship Grant No. DGE-1144152. The United States government hascertain rights in this invention.

BACKGROUND OF THE INVENTION

Laparoscopy is an increasingly-popular surgical procedure that uses oneto five small incisions, each of which is approximately 5-12 millimetersin diameter and extend down, to gain access to an interior surgicalsite. Each small incision receives a hollow tube or cannula which act asliners to hold the incisions open, thereby providing portals leadingdown to the interior surgical site. A laparoscopic procedure can then beperformed by passing surgical instruments, such as cutting devices,clamps or a viewing apparatus, down the cannulas so that the distalworking ends of the instruments can be positioned and used about thesurgical site. The proximal handle ends of the instruments remainoutside the body where they can be grasped by a surgeon. In somesituations, the excised tissue is relatively small and can be passedthrough the cannula opening, however, in other situations the excisedtissue is too large to fit through a cannula intact. In the latter case,the excised tissue must be cut down into a number of smaller piecesbefore it can be passed through a cannula.

Laparoscopic morcellation is a common method of accomplishing the abovedescribed task in the operating room. Further, morcellation also allowsmany surgeries to be performed laparoscopically, reducing recuperationtime and providing cosmetic benefits to patients. Laparoscopicmorcellation can be used in surgeries such as hysterectomy,fibroidectomy and myomectomy to remove uteri and uterine fibroids(leiomyomas) through a small abdominal incision. The current standardfor the removal of large tissue through a small incision during thesesurgeries involves grasping tissue and inserting the tissue into amoving cutting tool operating within the body cavity. Some conventionalmorcellators use blades that are housed in a tube through which thesurgeon inserts a tenaculum, grabs part of the tissue, and pulls itthrough the spinning blades, coring it and aspirating the thin, longpiece produced. Other conventional morcellators use bipolar energy tocut the tissue into small pieces that are then removed throughlaparoscopic ports in a piece-wise manner. A bipolar morcellator applieselectricity directly to the tissue through electrodes. The currentapplied to the tissue causes vaporization and separation of the tissue.Because bipolar morcellators are often inefficient at dissecting largeamounts of tissue, they are often used in combination with bladedmorcellators.

Unfortunately, the above existing approaches have a number of keylimitations; 1) they are time consuming because the devices must bemanually moved over the tissue during the cutting step, 2) they do notprovide safe containment of tissue during the morcellation process whichcould lead to seeding (spreading and re-growth) of benign or canceroustissue, 3) they can lead to accidental damage to surrounding healthytissue inside the body and 4) the proximity of the morcellator blade tocritical structures in the abdomen can result in major morcellationinjury to the surrounding tissue, such as a loop of bowel or colon. Inaddition to these safety risks, current morcellators are inefficientbecause they operate in a piece-wise or serial manner and the proceduretime is highly dependent on tumor size, density, and surgeon skill,thereby prolonging operating time.

Therefore, a laparoscopic morcellator is needed that overcomes the abovelimitations.

SUMMARY OF THE INVENTION

The present invention relates to a laparoscopic morcellator for cuttingand containing tissue during a laparoscopic surgery. It also allows fortorque balancing of a retractor mechanism, gas flow regulation of thebody cavity, and safety feedback mechanisms that can alert the surgeon.The morcellator is based on an enclosed, motor-actuated mesh,constructed from a plurality of compliant elongate members that applyonly an inward-directed cutting force to all of the tissuesimultaneously after it has been loaded into a containment mechanism andcutting mechanism combination.

Some embodiments of the invention provide a morcellating device forremoving tissue which includes a containment mechanism. The containmentmechanism includes an aperture which defines an interior space. Themorcellating device also includes a cutting mechanism designed to fitinto the interior space of the containment mechanism and a retractormechanism that is coupled to the cutting mechanism. The morcellatingdevice further includes a motor for actuating the retractor mechanismsuch that the cutting mechanism constricts and morcellates the tissue.

The cutting mechanism further comprises a perimeter portion and aplurality of compliant elongate members. The plurality of compliantelongate members can form one or more bundles and at least one bundlecan extend beyond the perimeter portion of the cutting mechanism. Theplurality of compliant elongate members may protrude through theaperture of the containment mechanism to create an opening in thecutting mechanism for receiving the tissue. The containment mechanismcomprises a material that is impermeable to tissue and fluid. While theplurality of compliant elongate members comprise a material having anaverage tension force at break of about 100 Newtons to about 140Newtons. Further, nodes of the plurality of compliant elongate membersare substantially immobile relative to one another upon a force createdby deformation of the tissue, whereby the nodes of the plurality ofcompliant elongate members retain their spacing.

The retracting mechanism of the morcellating device may include amovable member coupled to one or more of the bundles that may becontrolled by a foot actuator or a hand actuator. In one embodiment, themorcellating device may include a dynamic torque balancing mechanismthat includes a first secondary motor coupled to a first movable memberand a second secondary motor coupled to a second movable member, suchthat the tissue has a center of mass. The dynamic torque balancingmechanism may further include an accelerometer coupled to the first andsecond secondary motors, such that when the torque is above a specificthreshold on either the first movable member or the second movablemember, the bundles coupled to either the first or second movablemembers are pulled by either the first or second secondary motor tocenter the center of mass of the tissue over an inside surface of the ahollow shaft, thereby providing a counter balance.

Alternatively, the morcellating device may include a static torquebalancing mechanism. The static torque balancing mechanism may include ahollow shaft having an axis of rotation, and a torque shaft coupled tothe motor and the retractor mechanism. The retractor mechanism mayinclude a first moveable member and a second moveable member, such thatactuation of the retractor mechanism activates the motor and the firstand second movable members rotate in opposite directions, therebyreducing the overall torque of the first and second movable member.

The morcellating device may also include a housing which includes ahandle and an actuator. The housing encloses the movable member, theactuator coupled to the motor such that when the actuator is pressed,the motor is activated, thereby activating the retractor mechanism andallowing the movable member to provide a retracting force to thebundles. The housing, including the handle, is configured to be openedand designed for insertion of replaceable parts. In addition, the handlemay be configured to be opened and the plurality of compliant elongatemembers disengaged from the movable member and a new set of compliantelongate members can be coupled to the movable member, thereby making atleast a portion of the morcellating device reusable.

The morcellating device may further include a deployment mechanism thathouses the cutting mechanism and the containment mechanism. Thedeployment mechanism is separate from the housing for deployment of thecutting mechanism and the containment mechanism into a body. A seal maybe coupled to the housing to inhibit the tissue from contaminating themotor and the retractor mechanism. In addition, a coupling member can becoupled to the motor and engage the retractor mechanism. The motor andthe coupling member may be positioned to avoid contact with tissue orfluids in the body, and a flexible tube may be disposed between thecoupling member and the housing.

The retractor mechanism may be coupled to a hollow shaft that isdimensioned to surround a portion of the cutting mechanism. The hollowshaft may be partially hollow and coupled to a support block that iscoupled to the movable member. The hollow shaft has at least one of achamfered end portion, a flared end portion, or a lubricated end portionthereby reducing damage of the containment mechanism and the cuttingmechanism as the containment mechanism and the cutting mechanism arepulled through the hollow shaft. The containment mechanism and thecutting mechanism may have a retracted position and an extendedposition. In the retracted position, the aperture of the containmentmechanism is coupled to an outer surface of the hollow shaft, thecutting mechanism is coupled to the inside of the containment mechanism,and a portion of the containment mechanism is disposed within an innerspace of the hollow shaft. In the extended position, the aperture of thecontainment mechanism is coupled to the outer surface of the hollowshaft, the cutting mechanism is coupled to the inside of the containmentmechanism, and the containment mechanism is disposed external to theinner space of the hollow shaft.

In another embodiment, the containment mechanism and the cuttingmechanism have a retracted position and an extended position, such thatin the retracted position, the aperture of the containment mechanism iscoupled to an inner surface of the hollow shaft, the cutting mechanismis coupled to the inside of the containment mechanism, and thecontainment mechanism is disposed within the inner space of the hollowshaft. In the extended position, the aperture of the containmentmechanism is coupled to the inner surface of the hollow shaft, thecutting mechanism is coupled to the inside of the containment mechanism,and the containment mechanism is disposed external to the inner space ofthe hollow shaft.

The hollow shaft may be removable from the morcellating device or may beconfigured to be opened, thereby allowing removal of tissue. The hollowshaft may be coupled with threads to the housing of the morcellatingdevice to secure the hollow shaft to the morcellating deivce. Inaddition, the containment mechanism may further comprise a closingmechanism for closing the aperture of the containment mechanism about anouter portion of the hollow shaft, such that the closing mechanism isvoluminous to capture the tissue. The morcellating device may furtherinclude a gas flow control element coupled to the hollow shaft forcontrolling the flow of gas through the hollow shaft and themorcellating device.

In one embodiment, the morcellating device may include a controller inelectrical communication with the motor and a sensor in electricalcommunication with the controller. The sensor senses load variations onthe retractor mechanism, such that when the sensor senses a specificload threshold, the controller automatically stops motion of the motor,thereby stopping motion of the containment mechanism and cuttingmechanism. The controller may be configured to decrease a speed ofrotation of the motor and the retractor mechanism when the sensor sensesa load below the specific load threshold. Similarly, the controller mayalso be configured to increase the speed of rotation of the motor andthe retractor mechanism when the sensor senses a load above the specificload threshold.

The morcellating device may also include a controller in electricalcommunication with the motor and a sensor in electrical communicationwith the controller. The sensor senses when the cutting mechanism isinside the hollow shaft which is coupled to the retractor mechanism,such that when the sensor senses the cutting mechanism is fully withinan inner portion of the hollow shaft, the controller automatically stopsmotion of the motor, thereby stopping motion of the cutting mechanism.Further, the morecellating device may include an indicator thatindicates a specific position of the hollow shaft within a trocar and asensor in electrical communication with the indicator. The sensor senseshow far the hollow shaft, which is coupled to the retractor mechanism,extends into the trocar, such that when the sensor senses the hollowshaft is inside the trocar at a specific distance, the indicatorautomatically alerts a user. An insertion device, which may be flexibleand/or inflateable, may be used to insert the containment mechanism intothe trocar

The morcellating device may further include a support for externallysupporting the morcellating device. The morcellating device may beconfigured for use in a robotic surgery. Further, the motor of themorcellating device may be off-board of the housing that encloses a partof the retractor mechanism. The morcellating device may include a secondmotor coupled to the containment mechanism for removal of thecontainment mechanism from the body. Alternatively, a pulling device maybe coupled to the containment mechanism and configured to be handactivated for removal of the containment mechanism from the body. Or, amechanical device, which may be pneumatic, may be coupled to thecontainment mechanism for removal of the containment mechanism from apatient body. Further, a vibrator mechanism may be coupled to thecutting mechanism, thereby vibrating the cutting mechanism while theretractor mechanism retracts the cutting mechanism.

In another embodiment, the invention provides a tissue removal devicefor removing tissue which includes a containment mechanism with anaperture, a retractor mechanism coupled to the containment mechanism,and a motor. The containment mechanism is dimensioned to surround atleast a part of the tissue and the motor actuates the retractormechanism such that the containment mechanism constricts the tissue.

The tissue removal device may further include a closing device forclosing the aperture of the containment mechanism. The containmentmechanism comprises a material that is impermeable to tissue and fluid,and the aperture of the containment mechanism may be configured toreceive the tissue. The closing device may be being positioned on aperimeter portion of the containment mechanism to capture the tissue. Inaddition, the retractor mechanism of the tissue removal device mayinclude a movable member coupled to the containment mechanism. Theretractor mechanism may be controlled by a foot actuator or a handactuator. Further, a housing of the tissue removal device may include ahandle and an actuator. The housing encloses the movable member, theactuator coupled to the motor such that when the actuator is pressed,the motor is activated, thereby activating the retractor mechanism andallowing the movable member to provide a retracting force on thecontainment mechanism. In one embodiment, the housing, including thehandle, is configured to be opened and designed for insertion ofreplaceable parts.

A deployment mechanism that houses the containment mechanism may beseparate from the housing for deployment of the containment mechanisminto a body. A seal may be coupled to the housing to inhibit the tissuefrom contaminating the motor and the retractor mechanism. The retractormechanism may be engaged by a coupling member that is coupled to themotor. The motor and the coupling member are positioned to avoid contactwith tissue or fluids. In addition, a flexible tube may be disposedbetween the coupling member and the housing. A support block may becoupled to a hollow shaft, which is coupled to the retractor mechanism,and the moveable member.

The hollow shaft may be dimensioned to surround a portion of thecontainment mechanism, and the hollow shaft may be partially hollow. Thehollow shaft may be removable from the tissue removal device or isconfigured to be opened, thereby allowing removal of tissue. In oneform, the hollow shaft is coupled with threads to a housing of thetissue removal device, thereby securing the hollow shaft to the tissueremoval device. The hollow shaft may have at least one of a chamferedend portion, a flared end portion, and a lubricated end portion therebyreducing damage of the containment mechanism as it is pulled through thehollow shaft.

The containment mechanism has a retracted position and an extendedposition. In the retracted position, the aperture of the containmentmechanism is coupled to an outer surface of the hollow shaft, and aportion of the containment mechanism is disposed within an inner spaceof the hollow shaft. In the extended position, the aperture of thecontainment mechanism is coupled to the outer surface of the hollowshaft, and the containment mechanism is disposed external to the innerspace of the hollow shaft. In another form, the containment mechanismhas a retracted position and an extended position, such that in theretracted position, the aperture of the containment mechanism is coupledto an inner surface of the hollow shaft and the containment mechanism isdisposed within the inner surface of the hollow shaft. In the extendedposition, the aperture of the containment mechanism is coupled to aninner surface of the hollow shaft and the containment mechanism isdisposed external to the inner space of the hollow shaft.

In one embodiment, the tissue removal device may include a controller inelectrical communication with the motor and a sensor in electricalcommunication with the controller. The sensor senses load variations onthe retractor mechanism, such that when the sensor senses a specificload threshold, the controller automatically stops motion of the motor,thereby stopping motion of the containment mechanism. The controller maybe configured to decrease a speed of rotation of the motor and theretractor mechanism when the sensor senses a load below the specificload threshold. Similarly, the controller may also be configured toincrease the speed of rotation of the motor and the retractor mechanismwhen the sensor senses a load above the specific load threshold.

The tissue removal device may also include an indicator that indicates aspecific distance of the hollow shaft within a trocar and a sensor inelectrical communication with the indicator. The sensor senses how farthe hollow shaft, which is coupled to the retractor mechanism, extendsinto the trocar, such that when the sensor senses the hollow shaft isinside the trocar at a specific distance, the indicator automaticallyalerts a user. The tissue removal device may further include a gas flowcontrol element coupled to the hollow shaft for controlling the flow ofgas through the hollow shaft and the tissue removal device. In addition,an insertion device, which may be flexible and/or inflateable, may beused to insert the containment mechanism into the trocar.

The tissue removal device may further include a mechanism for externallysupporting the tissue removal device. The tissue removal device may beconfigured for use in a robotic surgery. Further, the motor of thetissue removal device may be off-board of the housing that encloses apart of the retractor mechanism. The tissue removal device may include apulling device that may be coupled to the containment mechanism andconfigured to be hand activated for removal of the containment mechanismfrom the body. Or, a mechanical device, which may be pneumatic, may becoupled to the containment mechanism for removal of the containmentmechanism from a patient body.

In another embodiment, the invention provides a tissue removal devicefor removing tissue. The tissue removal device includes a cuttingmechanism comprised of a wire loop and dimensioned to surround at leasta part of the tissue. The tissue removal device also includes aretractor mechanism coupled to the cutting mechanism and a motor foractuating the retractor such that the cutting mechanism constricts andsevers the tissue.

In another embodiment, the invention provides a method for removal oftissue using a morcellating device. The method involves providing acontainment mechanism having an aperture and providing a cuttingmechanism coupled to an interior of the containment mechanism. Thecutting mechanism is also coupled to a retractor mechanism that isactivatable by a motor. The method further involves surrounding thetissue with the cutting mechanism and the containment mechanism and thenclosing the aperture of the containment mechanism. The aperture of thecontainment mechanism may be closed through magnetism, mechanically, orwith a tool. The motor is then activated to actuate the retractormechanism such that the cutting mechanism constricts and createsmorcellated tissue. The morcellated tissue is contained in thecontainment device.

In yet another embodiment, the invention provides a method for removalof tissue by providing a containment mechanism including an aperture andproviding a retractor mechanism coupled to the containment mechanism.The tissue is then surrounded with the containment mechanism and theaperture of the containment mechanism is closed. The containmentmechanism may be closed through magnetism, mechanically, or with a toolA motor is activated which actuates the retractor mechanism such thatthe containment mechanism constricts the tissue and the tissue incontained in the containment device.

These and other features, aspects, and advantages of the presentinvention will become better understood upon consideration of thefollowing detailed description, drawings, and appended claims.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of an example laparoscopic morcellatingdevice according to one embodiment of the present invention.

FIG. 2 is a detailed side perspective view of the morcellating device ofFIG. 1 with one shell of the housing removed.

FIG. 3 an exploded view of the morcellating device of FIG. 2.

FIG. 4 is a top perspective view of a plurality of compliant elongatemembers forming a cutting mechanism used to cut tissue in the device ofFIG. 1.

FIG. 5 is a perspective view of the plurality of compliant elongatemembers of FIG. 4 forming separate bundles.

FIG. 6 is a side perspective view of the cutting mechanism of FIG. 5surrounded by a containment mechanism.

FIG. 7 is a side cross-sectional view of the morcellating device withthe cutting mechanism and containment mechanism attached to an innersurface of a hollow shaft in a retracted position.

FIG. 8 is a side cross-sectional view of the morcellating device withthe cutting mechanism and containment mechanism partially deployed fromthe hollow shaft of FIG. 7 in an extended position.

FIG. 9 is a side cross-sectional view of the morcellating device withthe cutting mechanism and the containment mechanism surrounding thetissue and deployed from the hollow shaft with the containment mechanismsurrounding only the outer portion of the hollow shaft of FIG. 8.

FIG. 10 is a side cross-sectional view of the morcellating device withthe cutting mechanism constricting the tissue of FIG. 9.

FIG. 11 is a side cross-sectional view of the morcellating device withthe cutting mechanism morcellating the tissue of FIG. 10.

FIG. 12 is a partial perspective view of the morcellating device withthe cutting mechanism and the containment mechanism attached to theinner surface of the hollow shaft in the retracted position according toanother embodiment of the present invention.

FIG. 13 is a side cross-sectional view of the morcellating device withthe cutting mechanism and the containment mechanism attached to theinner surface of the hollow shaft in the retracted position of FIG. 12.

FIG. 14 is a side cross-sectional view of the cutting mechanism and thecontainment mechanism of FIG. 13 deployed from the hollow shaft in theextended position.

FIG. 15 is a perspective view of the cutting mechanism and thecontainment mechanism deployed from the hollow shaft with thecontainment mechanism surrounding an outer surface of the hollow shaftin the extended position of FIG. 14.

FIG. 16 is a perspective view of the cutting mechanism surrounded by thecontainment mechanism in an open position.

FIG. 17 is a perspective view of the cutting mechanism surrounded by thecontainment mechanism in a closed position.

FIG. 18 is a side perspective view of a deployment mechanism for thecutting mechanism and the containment mechanism.

FIG. 19 is a top perspective view of a dynamic torque balancingmechanism for the morcellating device.

FIG. 20 is a side perspective view of the dynamic torque balancingmechanism for the morcellating device of FIG. 19.

FIG. 21 is a side perspective view of a static torque balancingmechanism for the morcellating device.

FIG. 22 is a perspective view of a set of coupling gears which activatethe static torque balancing mechanism of the morcellating device of FIG.21.

DETAILED DESCRIPTION OF THE INVENTION

Before any embodiments of the invention are explained in detail, it isto be understood that the invention is not limited in its application tothe details of construction and the arrangement of components set forthin the following description or illustrated in the following drawings.The invention is capable of other embodiments and of being practiced orof being carried out in various ways. Also, it is to be understood thatthe phraseology and terminology used herein is for the purpose ofdescription and should not be regarded as limiting. The use of“including,” “comprising,” or “having” and variations thereof herein ismeant to encompass the items listed thereafter and equivalents thereofas well as additional items. Unless specified or limited otherwise, theterms “mounted,” “connected,” “supported,” and “coupled” and variationsthereof are used broadly and encompass both direct and indirectmountings, connections, supports, and couplings. Further, “connected”and “coupled” are not restricted to physical or mechanical connectionsor couplings.

The following discussion is presented to enable a person skilled in theart to make and use embodiments of the invention. Various modificationsto the illustrated embodiments will be readily apparent to those skilledin the art, and the generic principles herein can be applied to otherembodiments and applications without departing from embodiments of theinvention. Thus, embodiments of the invention are not intended to belimited to embodiments shown, but are to be accorded the widest scopeconsistent with the principles and features disclosed herein. Thefollowing detailed description is to be read with reference to thefigures, in which like elements in different figures have like referencenumerals. The figures, which are not necessarily to scale, depictselected embodiments and are not intended to limit the scope ofembodiments of the invention. Skilled artisans will recognize theexamples provided herein have many useful alternatives and fall withinthe scope of embodiments of the invention.

FIG. 1 illustrates an example morcellating device 10 coupled to a motor24 by a coupling member 44 and a flexible tube 89 which is coupled to atorque shaft 88 (see FIG. 2). The coupling member 44 is coupled to themotor 24 and engages a retractor mechanism 22 (see FIG. 7). Themorcellating device 10 further includes a housing 36 with a handle 42.Best shown in FIGS. 2 and 3, the housing 36 holds a portion of theflexible tube 89 and torque shaft 88, which is coupled to a movablemember 40, a support block 90 and a hollow shaft 38. Extending from thehollow shaft 38 is a cutting mechanism 18 with an aperture 14 that isdimensioned to fit into an interior space 16 of a containment mechanism12 as shown in FIG. 6. The cutting mechanism 18 and the containmentmechanism 12 combination includes an opening 66 through which tissue 98can be placed, as shown in FIG. 9. The morcellating device 10 furtherincludes the retractor mechanism 22, shown in FIG. 7. The retractormechanism 22 includes bundles 34 wound around the movable member 40,such that when the torque shaft 88 is activated by the motor 24, themovable member 40 rotates and the cutting mechanism 18 retracts into thehollow shaft 38 and morcellates the tissue 98.

Turning now to FIGS. 2 and 3, the housing 36 can be made of a materialthat is lightweight and includes a handle 42 having an ergonomic grip.The housing 36 material is sufficiently strong to support a load on themovable member 40, to which the bundles 34 of the cutting mechanism 18are attached, and the hollow shaft 38 that is created by the tissue 98placed in the interior space 16 of the cutting mechanism 18 and thecontainment mechanism 12. The housing 36 may be opened by a slidingmechanism, hinges, or some type of mechanism to facilitate thereplacement of the torque shaft 88, the movable member 40, the pluralityof compliant elongate members 26, the support block 90, the bearings 92and/or the hollow shaft 38, making the housing 36 of the morcellatingdevice 10 capable of receiving replaceable parts (not shown). Thehousing 36 and/or the hollow shaft 38 can be sealed relative to thetorque shaft 88 to avoid contamination from fluid and the tissue 98.Further, the housing 36 can be sealed to inhibit gas leakage from theabdomen, as will be described in further detail below.

As best shown in FIGS. 2 and 3, the retractor mechanism 22 includes thetorque shaft 88 coupled to the movable member 40, and the movable member40 coupled to the support block 90. The support block 90 furtherincludes two press fit bearings 92 which surround both ends of themovable member 40. Also coupled to the support block 90 is the hollowshaft 38. The above described configuration represents the retractormechanism 22 along with the bundles 34 of the cutting mechanism 18wrapped around the movable member 40, as shown in FIGS. 7-11.

The motor 24 of the morcellating device 10, as shown in FIG. 1, furtherincludes an actuator 46 positioned on the handle 42 and coupled to themotor 24. Alternatively, the actuator 46 which controls the retractormechanism 22 can be controlled by a user's foot. In the preferredembodiment, the actuator 46 can be a trigger or button type mechanismpositioned on the handle 42, such that when the actuator 46 is pressedby the user, the motor 24 is automatically activated. Activation of themotor 24 causes the retractor mechanism 22 to become activated andtorque is transmitted to the movable member 40 causing it to rotate.Rotation of the movable member 40 provides a retracting force to thebundles 34 of the cutting mechanism 18 and the bundles 34 wind aroundthe rotating movable member 40. The movable member 40 preferably rotatesat a frequency of approximately 8 RPM, and the rotation frequency of themotor 24 is preferably around 8 RPM for simplicity. Optionally, themotor 24 can have a rotation frequency greater than 8 RPM which can bereduced, so that the movable member 40 rotates at a frequency ofapproximately 8 RPM.

In the preferred embodiment, the motor 24 is off-board the morcellatingdevice 10. Alternatively, the motor 24 can be on-board the morcellatingdevice 10 (not shown), however an on-board motor 24 would make themorcellating device 10 heavier and possibly more difficult for the userto operate. Whether an on-board or off-board motor 24 is used, the motor24 serves as a force generation device which can transmit powerpneumatically, hydraulically, electrically or in a similar fashion. Themotor 24 can be a split phase parallel shaft gear motor that can satisfythe torque and speed requirements to morcellate the tissue 98. However,a smaller motor 24 could be used in conjunction with a worm-gearreduction (not shown) positioned on the housing 36 of the morcellatingdevice 10. Torque transmission from the motor 24 to the worm-gear can beachieved by a flexible driveshaft connected between the motor 24 and themovable member 40, or, alternatively, gear reductions connected to theend of the flexible driveshaft. Further, to support the morcellatingdevice 10 with either an on-board or off-board motor 24, a support (notshown), such as a tripod or wires suspended from a ceiling or otherstructure could be used.

Turning now to FIGS. 12 and 13, the hollow shaft 38 includes an outersurface 56, an inner surface 58 and an inner space 60. The inner space60 of the hollow shaft 38 can be partially hollow, such that the hollowshaft 38 is dimensioned to surround a portion of the cutting mechanism18. The distal end of the hollow shaft 38 can be threadly coupled to thesupport block 90, as shown in FIG. 3. The inner space 60 of the hollowshaft 38 is where the cutting mechanism 18, which is dimensioned to fitinto the containment mechanism 12, is placed prior to deploying into thebody 79 of a patient, as shown in FIG. 18. The hollow shaft 38 iscylindrical in shape and can be between 12-15 centimeters in length. Ahollow shaft 38 that is greater than 15 centimeters in length can beused alternatively for obese patients. The hollow shaft 38 can beconstructed of stainless steel and the hollow shaft 38 can have an outerdiameter that is smaller than the diameter of a trocar 94, as shown inFIG. 18. Thus, the smaller outer diameter of the hollow shaft 38 allowsclearance for a perimeter portion 32 of the containment mechanism 12 tobe secured around an outer surface 56 of the hollow shaft 38, as shownin FIG. 8, or a part of the perimeter portion 32 of the containmentmechanism 12 to be disposed on an inner surface 58 of the hollow shaft38, as shown in FIG. 7, as the hollow shaft 38 is inserted or removedfrom the trocar 94. The hollow shaft 38 can further include an endportion 50 which serves as a tissue cutting surface. The end portion 50of the hollow shaft 38 can be chamfered, flared or lubricated to assistdeployment of the cutting mechanism 18 and containment mechanism 12combination into the body 79. The end portion 50 may also assist inretracting the cutting mechanism 18, with the tissue 98 positioned inthe interior space 16 of the cutting mechanism 18, into the hollow shaft38, thereby reducing damage of the cutting mechanism 18 and containmentmechanism 12 combination.

Alternatively, the hollow shaft 38 could include a magnetic liningdisposed on the outer surface 56 of the hollow shaft 38 which would beconstructed of a non-magnetic material. Or, the hollow shaft 38 couldinclude a non-magnetic lining disposed on the inner surface 58 of thehollow shaft 38 which would be constructed of a magnetic material. Bothof the above mentioned alternatives would assist in guiding a closingmechanism 74, as well as assist in providing adhesion of the perimeterportion 32 of the containment mechanism 12 to an outer surface 56 of thehollow shaft 38, as shown in FIG. 8 or ensuring the perimeter portion 32is disposed on an inner surface 58 of the hollow shaft 38, as shown inFIG. 7.

Turning now to FIGS. 4 and 5, the cutting mechanism 18 comprises aplurality of compliant elongate members 26 and a cutting area 19 tomorcellate the tissue 98. The plurality of compliant elongate members 26are bladeless and should have less than a 12/1,000 inch gauge andpreferably have an average tension force at break of about 100 N toabout 140 N. The plurality of compliant elongate members 26 arecollected into bundles 34 at a perimeter portion 30 of the cuttingmechanism 18. The perimeter portion 30 of the cutting mechanism 18defines an opening 66 for receiving tissue 98. The plurality ofcompliant elongate members 26 that extend beyond the perimeter portion30 into the bundles 34 do not cut the tissue 98. Rather, the bundles 34extend through the hollow shaft 38, as shown in FIG. 7, and are coupledto the movable member 40. In the preferred embodiment, the cuttingmechanism 18 is constructed of plastic, such as Kevlar, high-densitypolyethylene (HDPE) fishing line or nylon fishing line, however anymetal or non-metal material can be used as an alternative. The pluralityof compliant elongate members 26 that extend below the perimeter portion30 of the cutting mechanism 18 defines the cutting area 19. The cuttingarea 19 can be in the form of an open weave or knotted, such that eachof the plurality of compliant elongate members 26 intersect at a node28, forming a grid of squares, regular or irregular, or any other shape.The nodes 28 are substantially immobile relative to one another upon aninward force F, shown in FIG. 10, created by the deformation of thetissue 98, whereby the nodes 28 of the plurality of compliant elongatemembers 26 retain their spacing. Because the cutting mechanism 18applies only an inward directed cutting force F, the need formanipulating sharp tools or devices inside the body 79 is eliminated.Each square formed in the cutting area 19 can have a length between 3millimeters and 2 centimeters in order to fit the industry standard ofpathology cassettes. The cutting area 19 should be about 20 inches by 20inches.

Turning now to FIGS. 6, 16 and 17, the cutting mechanism 18 isdimensioned to fit into the interior space 16 of the containmentmechanism 12, such that it lines the containment mechanism 12. Thecutting mechanism 18 can be attached at multiple points to thecontainment mechanism 12, so that the cutting mechanism 18 does not movearound and make it difficult to ensure the tissue 98 is completelyplaced in the interior space 16 of the containment mechanism 12. Havingthe cutting mechanism 18 removably attached at multiple points to thecontainment mechanism 12 allows the cutting mechanism 18 to detach fromthe containment mechanism 12 when the cutting mechanism 18 is beingretracted into the hollow shaft 38 by the retractor mechanism 22, asshown in FIGS. 10 and 11, allows for the containment mechanism 12 to beleft inside the body 79. Further, the cutting mechanism 18 can becolored so that it is more visible on the endoscope and the cuttingmechanism 18 can be coated with a lubricant or anti-coagulant todecrease the friction as it enters the hollow shaft 38, as well asprevent the tissue 98 from sticking to the cutting mechanism 18.

As previously described, the containment mechanism 12 is dimensioned toencapsulate the cutting mechanism 18, as shown in FIG. 16. Thecontainment mechanism 12 can be a standard surgical retrieval bag withthe closing mechanism 74 that is threaded through the perimeter portion32 of the containment mechanism 12, best shown in FIGS. 16 and 17. Theclosing mechanism 74 is a drawstring-like mechanism that when pulled,seals the perimeter portion 32 around the outer surface 56 of the hollowshaft 38 once the tissue 98 is placed into the interior space 16 of thecontainment mechanism 12, as shown in FIGS. 9 and 15. Alternatively, theclosing mechanism 74 could be a flexible loop, a plurality of strings, asliding fit inside a sheath, or any other mechanism. Sealing thecontainment mechanism 12 around the outer surface 56 of the hollow shaft38 can prevent seeding, which may occur when tissue 98 spills into thebody 79 of the patient. For malignant and premalignant tissue 98, theseal between the containment mechanism 12 and the outer surface 56 ofthe hollow shaft 38 is critical, and the containment mechanism 12 shouldbe impermeable to fluid and the cells of the tissue 98 contained withinthe interior space 16. Further, the containment mechanism 12 can have anaperture 14 with a diameter of about 5.5 inches, a length of about 11.1inches, and a volume of about 3,000 milliliters. The containmentmechanism 12 can be constructed from a rip-stop nylon to help preventany tearing that may occur during surgery.

Turning now to FIG. 7, the morcellating device 10 is used during alaparoscopic procedure in order to remove tissue 98 from the body 79. Tobegin, the bundles 34 of the cutting mechanism 18 are coupled to themovable member 40. As previously described, the cutting mechanism 18 iscoupled to and encapsulated within the interior space 16 of thecontainment mechanism 12, as shown in FIG. 8. The cutting mechanism maybe inserted into the inner space 60 of the hollow shaft 38, such thatthe morcellating device 10 is in the retracted position 52, as shown inFIG. 7. In one embodiment, a perimeter portion 32 of the containmentmechanism 12 can be coupled to the inner surface 58 of the hollow shaft38. Similarly, a perimeter portion 30 of the cutting mechanism 18 iscoupled to the inner surface 58 of the hollow shaft 38.

An alternative retracted position 52 is shown in FIG. 8 and describedbelow, where the containment mechanism 12 is lightly coupled to theouter surface 56 of the hollow shaft 38, and the cutting mechanism 18 iscoupled to the interior space 16 of the containment mechanism 12. Theperimeter portions 30, 32 of the cutting mechanism 18 and thecontainment mechanism 12 are attached to the hollow shaft 38 asdescribed above in order to allow the tissue 98 to be placed into theinterior space 16 of the containment mechanism 12 through the opening66, as shown in FIG. 5. The morcellating device 10 is inserted into thetrocar 94 of FIG. 18, and the containment mechanism 12 and cuttingmechanism 18 combination are deployed into the external environment 62,such that the morcellating device 10 is in the extended position 54, asshown in FIG. 9.

Deployment of the containment mechanism 12 and cutting mechanism 18combination into the external environment 62 can be achieved by a springload mechanism (not shown), by pulling it with a tenaculum (not shown)and opening it, or with a deployment mechanism 76, shown in FIG. 18.Deployment of the containment mechanism 12 and cutting mechanism 18combination using the deployment mechanism 76 will be described indetail below. Prior to deployment, an insertion device (not shown) thatis coaxial with the hollow shaft 38 can be used to insert thecontainment mechanism 12 and cutting mechanism 18 combination into thehollow shaft 38. The insertion device 75 can be flexible and/orinflatable.

Once the morcellating device 10 is in the extended position, as shown inFIG. 9, the tissue 98 is placed into the interior space 16 of thecontainment mechanism 12 through the opening 66. A tool, such as atenaculum (not shown) can then be used to grasp the perimeter portion 32of the containment mechanism 12, which may have been previously attachedto the inner surface 58 of the hollow shaft 38, as shown in FIG. 7, andposition the perimeter portion 32 around the entire outer surface 56 ofthe end portion 50 of the hollow shaft 38 as shown in FIG. 9. Theclosing mechanism 74 is then pulled by the user to seal the containmentmechanism 12 around the outer surface 56 of the end portion 50. The usercan then activate the retractor mechanism 22 by pressing the actuator46. Rotation of the retractor mechanism 22 will wind the bundles 34 ofthe cutting mechanism 18 around the movable member 40 and begin toconstrict the tissue 98 as shown in FIG. 10. Optionally, a vibrator (notshown) can be coupled to the cutting mechanism 18 to vibrate the cuttingmechanism 18 as it is retracted by the retractor mechanism 22.

As the user continues to press the actuator 46, the bundles 34 continueto wind around the movable member 40 until the cutting mechanism 18constricts the tissue 98 against the end portion 50 of hollow shaft 38.Because the tissue 98 is too large to fit through the end portion 50 ofthe hollow shaft 38, the cutting area 19 of the cutting mechanism 18morcellates the tissue 98 into morcellated tissue 100, as shown in FIG.11. The smaller portions of the morcellated tissue 100 will then dropinto the containment mechanism 12. The morcellating device 10 is thenremoved from the trocar 94 and the morcellated tissue 100 is aspiratedout of the containment mechanism 12. The hollow shaft 38 is disconnectedfrom the housing 36 and the remaining morcellated tissue 100 isrecovered from the cutting mechanism 18.

In another embodiment, as shown in FIGS. 8 and 12-15, the cuttingmechanism 18 is encapsulated in the interior space of 16 of thecontainment mechanism 12 and inserted into the inner space 60 of thehollow shaft 38, such that the morcellating device 10 is in theretracted position 52. The perimeter portion 32 of the containmentmechanism 12 is attached only to the inner surface 58 of the hollowshaft 38. Similarly, a perimeter portion 30 of the cutting mechanism 18is attached the inner surface 58 of the hollow shaft 38. Themorcellating device 10 is inserted into the trocar 94 of FIG. 18, andthe containment mechanism 12 and cutting mechanism 18 combination aredeployed into the external environment 62, such that the morcellatingdevice 10 is in the extended position 54, as shown in FIG. 14. Similarto the previous embodiment, once the morcellating device 10 is in theextended position 54, a tool, such as a tenaculum (not shown) can thenbe used to grasp the perimeter portion 32 of the containment mechanism12, which was previously attached to the entire inner surface 58 of thehollow shaft 38, and position the perimeter portion 32 around the entireouter surface 56 of the end portion 50 of the hollow shaft 38 as shownin FIGS. 9 and 15.

Prior to coupling the perimeter portion 32 of the containment mechanism12 to the entire outer surface 56 of the hollow shaft 38, the tissue 98is placed into the interior space 16 of the containment mechanism 12through the opening 66. The closing mechanism 74 is then pulled by theuser to seal the containment mechanism 12 around the outer surface 56 ofthe end portion 50. The user can then activate the retractor mechanism22 by pressing the actuator 46. Rotation of the retractor mechanism 22will wind the bundles 34 of the cutting mechanism around the movablemember 40 and begin to constrict the tissue 98 as shown in FIG. 10. Asthe user continues to press the actuator 46, the bundles 34 continue towind around the movable member 40 until the cutting mechanism 18constricts the tissue 98 against the end portion 50 of hollow shaft 38.Because the tissue 98 is too large to fit through the end portion 50 ofthe hollow shaft 38, the cutting area 19 of the cutting mechanism 18morcellates the tissue 98 into morcellated tissue 100, as shown in FIG.11. The smaller portions of the morcellated tissue 100 will then dropinto the containment mechanism 12. The morcellating device 10 is thenremoved from the trocar 94 and the morcellated tissue 100 is aspiratedout of the containment mechanism 12. The hollow shaft 38 is disconnectedfrom the housing 36 and the remaining morcellated tissue 100 isrecovered from the cutting mechanism 18.

Turning now to FIG. 18, in another embodiment, the deployment mechanism76 can be used to deploy the containment mechanism 12 and cuttingmechanism 18 combination into the external environment 62. To begin, thecontainment mechanism 12 and cutting mechanism 18 combination arepositioned inside the deployment mechanism 76. A handle 77 of thedeployment mechanism 76 is then pushed in until the containmentmechanism 12 and cutting mechanism 18 are deployed in the externalenvironment 62. Note that the deployment mechanism 76 includes a slit 78for the drawstring-like closing mechanism 74 to come through and bereleased when the deployment mechanism 76 is removed from the trocar 94.Also, note that the bundles 34 are coupled to the movable member 40 ofthe morcellating device 10 prior to the containment mechanism 12 andcutting mechanism 18 combination being deployed into the externalenvironment 62. Once deployed, the deployment mechanism 76 is removedfrom the trocar 94 and the morcellating device 10 is inserted into thetrocar 94.

Similar to the previous embodiments, a tool, such as a tenaculum (notshown) can then be used to grasp the perimeter portion 32 of thecontainment mechanism 12 and position the perimeter portion 32 aroundthe entire outer surface 56 of the end portion 50 of the hollow shaft38. Prior to coupling the perimeter portion 32 of the containmentmechanism 12 to the entire outer surface 56 of the hollow shaft 38, thetissue 98 is placed into the interior space 16 of the containmentmechanism 12 through the opening 66. The closing mechanism 74 is thenpulled by the user to seal the containment mechanism 12 around the outersurface 56 of the end portion 50. The remaining process of morcellatingthe tissue 98 is the same as the embodiments previously described.

After the tissue 98 is morcellated, a larger portion of the morcellatedtissue 100 remains in the cutting mechanism 18 and the remainingportions of the morcellated tissue 100 remain in the containmentmechanism 12, as shown in FIG. 11. The portions of the morcellatedtissue 100 that remain in the cutting mechanism 18 inside the hollowshaft 38 need to be extracted for pathology. Therefore, the hollow shaft38 can be openable, for example by a hinge, or, as previously stated,the hollow shaft 38 can be coupled with threads to the housing 36 sothat the hollow shaft 38 can be screwed into the housing 36 and simplyunscrewed from the housing 36 once the morcellating procedure iscomplete to gain access to the morcellated tissue 100. Alternatively, ahook (not shown) could be used to pull the cutting mechanism 18 out fromthe inner space 60 of the hollow shaft 38 such that the opening 66 ofthe cutting mechanism 18 is below the end portion 50 of the hollow shaft38 and then the morcellated tissue 100 can be removed from the cuttingmechanism 18.

The morcellated tissue 100 remaining in the containment mechanism 12 canbe removed through aspiration, a pulling device 84 or through a tissueremoval insertion tube (not shown) that is similar in size to the trocar94, shown in FIG. 18. The tissue removal insertion tube can be made of amaterial strong enough to withstand the force of pulling the containmentmechanism 12 through the insertion tube. The tissue removal insertiontube will have an outer diameter close to that of the trocar 94 and theinsertion tube can have rounded edges and/or a chamfer to ensure thatthe containment mechanism 12 will not be cut by the edges of theinsertion tube when it is forcibly pulled. Alternatively, thecontainment mechanism 12 can be pulled out of the body 79 by anothermotor-actuated device (not shown) which functions in a similar way tothe morcellating device 10. The tissue removal insertion tube can beattached to a movable member and a motor, and the user can attach thedrawstring-type closing mechanism to the movable member and actuate themotor, thereby pulling the containment mechanism 12 through the tissueremoval insertion tube. The motor-actuated device could be reusablesince it does not come into direct contact with morcellated tissue 100and is easily disassembled and sterilized. Further, the motor-actuateddevice could have a maximum force limited to a point such that thecontainment mechanism 12 cannot break and the user could move toaspiration if the morcellated tissue 100 proved too difficult to pullout of the external environment 62, as shown in FIG. 18.

The morcellating device 10 can further include sensors and feedbackmechanisms to assist the user during a laparoscopic procedure. As shownin FIGS. 11 and 18, a sensor 64 is disposed on the hollow shaft 38. Thesensor 64 can be positioned on either the inner surface 58 or the outersurface 56 of the hollow shaft 38, and the sensor can be mechanical,electromechanical or optomechanical. An indicator 72 can be positionedin the trocar 94 and the indicator 72 is in electrical communicationwith the sensor 64. The sensor 64 can sense how far the hollow shaft 38is inserted into the trocar 94 at a specific distance and providefeedback for the user, thereby preventing the hollow shaft 38 from beinginserted too far into the trocar 94. The indicator 72 will automaticallyalert the user if the hollow shaft 38 is inserted past the specificdistance. Alternatively, the hollow shaft 38 can have a mechanical blockor marking 73 on the outer surface 56 that is visible to the user as thehollow shaft 38 is inserted into the trocar 94.

A load sensing mechanism can also be implemented to assist the userduring a laparoscopic procedure. As shown in FIG. 10, a sensor 65 thatsenses load variations on the retractor mechanism 22 and is inelectrical communication with the controller 48, as shown in FIG. 1. Thecontroller 48 is in electrical communication with the motor 24 such thatwhen the sensor 65 senses a specific load threshold, the controller 48automatically stops the motion of the motor 24, thereby stopping therotation of the retractor mechanism 22 and motion of the containmentmechanism 12 and the cutting mechanism 18. Above the load threshold, thecontroller 48 can decrease the motion of the motor 24, therebydecreasing the rotation of the retractor mechanism 22 and the motion ofthe containment mechanism 12 and the cutting mechanism 18. Similarly,below the load threshold, the controller can increase the motion of themotor 24, thereby increasing the rotation of the retractor mechanism 22and the motion of the containment mechanism 12 and the cutting mechanism18.

Another feedback mechanism is best shown in FIGS. 11 and 18, where thesensor 64 is disposed on the hollow shaft 38. The sensor 64 is inelectrical communication with the controller 48 and the controller 48 isin electrical communication with the motor 24. The sensor 64 can bepositioned on either the inner surface 58 or the outer surface 56 of thehollow shaft 38, and the sensor can be mechanical, electromechanical, oroptomechanical. The sensor senses when the cutting mechanism 18 is fullyretracted into the hollow shaft 38 and when the tissue 98 is morcellatedand sends a signal to the controller 48 which automatically stops motionof the motor 24. Automatically stopping the motion of the motor 24 stopsthe rotation of the retractor mechanism 22 so that the cutting mechanism18 and morcellated tissue 100 do not get wound into the retractormechanism 22 and potentially contaminate the housing 36 of themorcellating device 10. The above described feedback mechanism furtherprevents the morcellated tissue 100 from being caught in the retractormechanism 22, making the morcellated tissue 100 unsuitable forpathology. Alternatively, an audible sound, such as a beeping noise,could be sounded to alert the user to release the actuator 46, therebystopping motion of the motor 24.

Additionally, as shown in FIG. 7, a stopper 68 coupled to the bundles 34of the cutting mechanism 18 can be used as a feedback mechanism. Oncethe bundles 34 are retracted to the position where the stopper 68 makescontact with the retractor mechanism 22, the user can feel a resistanceindicating that the cutting mechanism 18 is in the fully retractedposition 52. This feedback mechanism can inhibit the internal componentsof housing 36 from being contaminated from the morcellated tissue 100and the morcellated tissue 100 from being crushed/caught in the bundles34.

Turning now to FIGS. 19 and 20, the morcellating device 10 can furtherinclude a dynamic torque balancing mechanism 200. The dynamic torquebalancing mechanism 200 includes an accelerometer 212 (e.g., apiezoelectric accelerometer), a first secondary motor 202 attached to afirst movable member 206, a second secondary motor 204 coupled to asecond movable member 208, a set of free pegs 220 to guide the bundles34, a coupling gear 224, a gear reduction mechanism 226, and a torqueshaft 214 coupled to the main motor 24 of FIG. 1. The first and secondsecondary motors 202, 204 are substantially parallel and coupled to theaccelerometer 212 and extend past the first and second movable members206, 208, but are still disposed within the housing 36 of themorcellating device 10. The bundles 34 of the cutting mechanism 18 areevenly coupled to the first and second movable members 206, 208. Whenthe force F, which is created by the retractor mechanism 22 retractingthe cutting mechanism 18 into the hollow shaft 38 and cutting the tissue98, as shown in FIG. 10, is above a certain threshold, the bundles 34 onthe opposing side will be retracted in with more force by thecorresponding secondary motor 202, 204 to center the center of mass ofthe tissue (not shown) over the inner space 60 of the hollow shaft 38,thereby providing a counter-balance. The RPM of the relevant secondarymotor 202, 204 is automatically controlled by and adjusted based on theaccelerometer 212 to change the RPM of the relevant motor(s) 202, 204and balance torque.

Alternatively, the morcellating device 10 can further include a statictorque balancing mechanism 300 as shown in FIGS. 21 and 22. The statictorque balancing mechanism 300 includes the main motor 24 aligned withthe axis of rotation 216 of the hollow shaft 38 (shown in FIG. 21) orthe axis of the handle 42 which is perpendicular to the axis of rotation216 of the hollow shaft 38. The static torque balancing mechanism 300further includes free pegs 302 to guide the bundles 34, coupling gears310, a gear reduction 312 and a torque shaft 314. The motor 24 activatesthe torque shaft 314 which activates the retractor mechanism 22, therebyturning the first movable member 304 and the second movable member 306simultaneously in opposite directions by using appropriate couplinggears 310. This potentially greatly reduces the overall torque of thefirst and second movable members 304, 306 as the retractor mechanism 22retracts the cutting mechanism 18 into the hollow shaft 38.

The morcellating device 10 can further include a gas flow controlelement (not shown) for controlling the flow of gas through the hollowshaft 38 and the morcellating device 10. The morcellating device 10 isunusable without the gas flow control element since otherwise the gasextending the abdomen or external environment 62, shown in FIG. 18,escapes rapidly and prevents visualization. Thus, there should be a gasflow control element located in either the hollow shaft 38 or the body79 that prevents rapid escape. For instance, the gas flow controlelement could be a mechanical valve that could be sealed off while gasre-accumulates in the body 79.

The present morcellating device 10 described above has severaladvantages over conventional morcellating devices. First, the presentmorcellating method could serve in place for any procedure that is donewith morcellation, as well as expand the range of accessible procedures.For instance, organs, such as kidneys, which are hard to grab and removefrom the patient's body 79 in one piece because the tissue is soft canbe removed with the morcellating device 10 and method as describedabove. Further, a surgery which is currently not done laparoscopically,is a hysterectomy in the presence of ovarian cancer. Since canceroustissue should not be morcellated with conventional techniques due to therisk of spreading cancer/seeding, the operation is done via laparotomy.The present morcellating device 10, however could be used during ahysterectomy while reducing the risk of seeding. The morcellating device10 can further be implemented into other procedures such as nephrectomy(kidney removal), splenectomy (spleen removal) and cholecystectomy(gallbladder removal).

Additionally, the morcellating device 10 is intrinsically scalableacross tumor sizes, thereby opening the possibility to makesmaller-than-standard incisions for smaller pieces of tissue 98 thatrequire removal and allowing even very large tissue to be removedwithout laparotomy. Further, the morcellating device 10 is economicalbecause the cutting mechanism 18, constructed of the plurality ofcompliant elongate members 26, is bladeless. Conventional morcellatingblades tend to be rather expensive. Also, having several reusable partsmakes the morcellating device more economical.

The present morcellating device 10 can also potentially save onoperating room time, while still being able to capture larger and moredense tissue 98 than current morcellators can reasonably handle. Currentmorcellators take time for grabbing/re-grabbing the tissue, time forcoring, time for setup/re-setup when the blades break or the motoroverheats, time for grabbing the morcellated tissue, and time foraspiration. However, the present morcellating device 10 and tissueretrieval method automatically cuts the whole piece of tissue 98 intothe pre-specified sizes in one pass, and the speed is determined by theparameters of the motor (i.e., the rotation frequency), therebypotentially reducing time in the operating room.

An additional advantage of the morcellating device 10 is the potentialfor automation and use in robotic surgery. Robotic surgeries (where therobot is controlled by a human) are currently slow and expensive. Tissue98 to be removed from the body 79 is targeted and the standardmorcellation process is used with all of the pitfalls, includingdropping morcellated tissue 100 into the body 79. The advantages of themorcellating device 10 previously mentioned would carry over to arobotic procedure. In potentially “automatic” robotic surgicalprocedures that may be developed, the conventional method would carrymore disadvantages than direct human surgeons have since for example anautomated robot would have to re-find the pieces of morcellated tissue100 and waste computation time. The present morcellating device couldlead to simpler processes for automatic robotic surgery (i.e.,tracking/identification, placement of the tissue 98 into the containmentmechanism 12) by eliminating the need for excess steps, potentiallyimproving procedure time and minimizing “lost” pieces of the morcellatedtissue 100.

1. A morcellating device for removing tissue, the morcellating devicecomprising: a containment mechanism including an aperture, thecontainment mechanism having an interior space; a cutting mechanism, thecutting mechanism being dimensioned to fit into the interior space ofthe containment mechanism, and the cutting mechanism being dimensionedto surround at least a part of the tissue; a retractor mechanism, theretractor mechanism coupled to the cutting mechanism; and a motor foractuating the retractor mechanism such that the cutting mechanismconstricts and morcellates the tissue.
 2. The morcellating device ofclaim 1, wherein the cutting mechanism further comprises a perimeterportion and a plurality of compliant elongate members, the plurality ofcompliant elongate members forming one or more bundles, at least onebundle extending beyond the perimeter portion of the cutting mechanism.3. (canceled)
 4. (canceled)
 5. (canceled)
 6. The morcellating device ofclaim 2, wherein the retractor mechanism further includes a movablemember coupled to the one or more bundles.
 7. The morcellating device ofclaim 6, further comprising: a dynamic torque balancing mechanism, thedynamic torque balancing mechanism including: a first secondary motorcoupled to a first movable member; a second secondary motor coupled to asecond movable member, the tissue having a center of mass; and anaccelerometer coupled to the first and second secondary motors, suchthat when the torque is above a specific threshold on either the firstmovable member or the second movable member, the bundles coupled toeither the first or second movable members are pulled by either thefirst or second secondary motor to center the center of mass of thetissue over an inside surface of the a hollow shaft, thereby providing acounter balance.
 8. (canceled)
 9. (canceled)
 10. (canceled) 11.(canceled)
 12. (canceled)
 13. (canceled)
 14. (canceled)
 15. (canceled)16. (canceled)
 17. (canceled)
 18. The morcellating device of claim 1,further comprising: a hollow shaft dimensioned to surround a portion ofthe cutting mechanism, the hollow shaft being partially hollow. 19.(canceled)
 20. (canceled)
 21. (canceled)
 22. The morcellating device ofclaim 18, wherein the hollow shaft is removable from the morcellatingdevice or is configured to be opened, thereby allowing removal oftissue.
 23. (canceled)
 24. (canceled)
 25. (canceled)
 26. Themorcellating device of claim 1, further comprising: a controller inelectrical communication with the motor; and a sensor in electricalcommunication with the controller, the sensor sensing load variations onthe retractor mechanism, such that when the sensor senses a specificload threshold, the controller automatically stops motion of the motor,thereby stopping motion of the containment mechanism and cuttingmechanism.
 27. (canceled)
 28. The morcellating device of claim 1,further comprising: a hollow shaft coupled to the retractor mechanism; acontroller in electrical communication with the motor; a sensor inelectrical communication with the controller, the sensor sensing whenthe cutting mechanism is inside the hollow shaft, such that when thesensor senses the cutting mechanism is fully within an inner portion ofthe hollow shaft, the controller automatically stops motion of themotor, thereby stopping motion of the cutting mechanism.
 29. (canceled)30. (canceled)
 31. The morcellating device of claim 1, furthercomprising: a hollow shaft coupled to the retractor mechanism; anindicator that indicates a specific position of the hollow shaft withina trocar; a sensor in electrical communication with the indicator, thesensor sensing how far the hollow shaft extends into the trocar, suchthat when the sensor senses the hollow shaft is inside the trocar at aspecific distance, the indicator automatically alerts a user. 32.(canceled)
 33. (canceled)
 34. (canceled)
 35. (canceled)
 36. (canceled)37. (canceled)
 38. (canceled)
 39. The morcellating device of claim 1,further comprising: a second motor, the second motor being coupled tothe containment mechanism for removal of the containment mechanism froma body.
 40. (canceled)
 41. The morcellating device of claim 1, wherein:the retractor mechanism includes a first movable member and a secondmovable member; and the morcellating device further comprises a statictorque balancing mechanism, the static torque balancing mechanismincluding a hollow shaft having an axis of rotation, and a torque shaftcoupled to the motor and the retractor mechanism, such that actuation ofthe retractor mechanism activates the motor and the first and secondmovable members rotate in opposite directions, thereby reducing theoverall torque of the first and second movable member.
 42. (canceled)43. A tissue removal device for removing tissue, the tissue removaldevice comprising: a containment mechanism including an aperture, thecontainment mechanism being dimensioned to surround at least a part ofthe tissue; a retractor mechanism, the retractor mechanism coupled tothe containment mechanism; and a motor for actuating the retractormechanism such that the containment mechanism constricts the tissue. 44.(canceled)
 45. The tissue removal device of claim 43, wherein theretractor mechanism further includes a movable member coupled to thecontainment mechanism, wherein the tissue removal device furthercomprises a housing, the housing including a handle and an actuator, thehousing enclosing the movable member, the actuator coupled to the motorsuch that when the actuator is pressed, the motor is activated, therebyactivating the retractor mechanism and allowing the movable member toprovide a retracting force on the containment mechanism, wherein thehousing, including the handle, is configured to be opened and designedfor insertion of replaceable parts, and wherein the tissue removaldevice further comprises a deployment mechanism that houses thecontainment mechanism, the deployment mechanism being separate from thehousing for deployment of the containment mechanism into a body. 46.(canceled)
 47. (canceled)
 48. (canceled)
 49. (canceled)
 50. (canceled)51. (canceled)
 52. (canceled)
 53. (canceled)
 54. (canceled)
 55. Thetissue removal device of claim 43, further comprising: a hollow shaftdimensioned to surround a portion of the containment mechanism, thehollow shaft being partially hollow.
 56. (canceled)
 57. The tissueremoval device of claim 55, wherein: the containment mechanism has aretracted position and an extended position; in the retracted position,the aperture of the containment mechanism is coupled to an outer surfaceof the hollow shaft, and a portion of the containment mechanism isdisposed within an inner space of the hollow shaft; and in the extendedposition, the aperture of the containment mechanism is coupled to theouter surface of the hollow shaft, and the containment mechanism isdisposed external to the inner space of the hollow shaft.
 58. The tissueremoval device of claim 55, wherein: the containment mechanism has aretracted position and an extended position; in the retracted position,the aperture of the containment mechanism is coupled to an inner surfaceof the hollow shaft and the containment mechanism is disposed within theinner surface of the hollow shaft; and in the extended position, theaperture of the containment mechanism is coupled to an inner surface ofthe hollow shaft and the containment mechanism is disposed external tothe inner space of the hollow shaft.
 59. (canceled)
 60. (canceled) 61.(canceled)
 62. (canceled)
 63. (canceled)
 64. (canceled)
 65. The tissueremoval device of claim 43, further comprising: a controller inelectrical communication with the motor; a sensor in electricalcommunication with the controller, the sensor sensing load variations onthe retractor mechanism, such that when the sensor senses a specificload threshold, the controller automatically stops motion of the motor,thereby stopping motion of the containment mechanism.
 66. The tissueremoval device of claim 65, wherein the controller decreases the speedof rotation of the motor and the retractor mechanism when the sensorsenses a load below the specific load threshold, and the controllerincreases the speed of rotation of the motor and the retractor mechanismwhen the sensor senses a load above the specific load threshold. 67.(canceled)
 68. (canceled)
 69. (canceled)
 70. The tissue removal deviceof claim 43, further comprising: a hollow shaft coupled to the retractormechanism; an indicator that indicates a specific distance of the hollowshaft within a trocar; a sensor in electrical communication with theindicator, the sensor sensing how far the hollow shaft extends into thetrocar, such that when the sensor senses the hollow shaft is inside thetrocar at a specific distance, the indicator automatically alerts auser.
 71. 72. (canceled)
 73. (canceled)
 74. (canceled)
 75. (canceled)76. A tissue removal device for removing tissue, the tissue removaldevice comprising: a cutting mechanism, the cutting mechanism comprisedof a wire loop, the cutting mechanism being dimensioned to surround atleast a part of the tissue; a retractor mechanism, the retractormechanism coupled to the cutting mechanism; and a motor for actuatingthe retractor such that the cutting mechanism constricts and severs thetissue.
 77. (canceled)
 78. (canceled)
 79. (canceled)
 80. (canceled)